AMIGO Base
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'''Under Construction''' <br> | '''Under Construction''' <br> | ||
Figure 1 shows the CAD model of the fully assembled base. | Figure 1 shows the CAD model of the fully assembled base. | ||
− | [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1:Assembled base of AMIGO.]] | + | [[Image:AMIGO Base ASSEMBLY.jpg|500px|thumb|center|Figure 1: Assembled base of AMIGO.]] |
= Mechanics = | = Mechanics = | ||
− | + | === Omniwheels === | |
+ | Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided. | ||
+ | |||
+ | [[Image:AMIGO Omniwheel Exploded View.jpg|500 px|thumb|center|Figure 2: Exploded view of a omniwheel.]] | ||
= Electronics = | = Electronics = | ||
''(Coming Soon)'' | ''(Coming Soon)'' |
Revision as of 09:52, 29 November 2011
Part Links |
Author |
TU/e |
CST Group, TU/e |
rop@tue.nl |
CAD Files |
Inventor |
STEP |
Electrical Drawings |
(Coming Soon) |
AMIGO: Head | Arms | Torso | Base
Contents |
Part Summary
The base acts as the support structure for AMIGO. It provides space for important hardware for the platform like the PC's, batteries, laser range finder and the wheels.
- Author: CST Group, TU/e
- License: BSD
- Repository: https://rop.wtb.tue.nl/svn/rop/AMIGO/Base/
- Software: www.ros.org (Coming Soon)
Overview
Under Construction
Figure 1 shows the CAD model of the fully assembled base.
Mechanics
Omniwheels
Custom made omniwheels are used for Amigo. An exploded view of the wheel is depicted in figure 2. The wheel has a diameter of 150 mm. Ten small rollers (2) are positioned around its perimeter. Each of these rollers is fitted with seven O-rings. These provide the grip. The O rings vary in diameter. (Inner diameter 24 mm, 23 mm, 21 mm, 18 mm) They all have the same thickness (5 mm). The small rollers are relatively large. This allows higher obstacles to be crossed. The diameter of the wheel gives the platform a ground clearance of approximately 40 mm. Two needle roller bearings (INA HK0609) are placed inside each roller to ensure smooth rolling. The axles of the rollers are clamped between the outer rings (1) and (6) and the inner rings (3) and (5). Countersunk M4 bolts (4) are used to bolt the rings together. Both sets of wheels are aligned on the main hub (1) to which one of the outer rings already is attached. 5 M5 bolts (7) are used to bolt the second set of wheels to the main hub. The blue rings at the outside of the rollers are M6 shims with a thickness of 0.5 mm. All components of the wheel are made of aluminum. Technical drawings of the wheel are also provided.
Electronics
(Coming Soon)